gazebo::transport::Node Class Reference

A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topics. More...

#include <Node.hh>

Inheritance diagram for gazebo::transport::Node:

Public Member Functions
	Node ()
	Constructor.
virtual	~Node ()
	Destructor.
template<typename M >
transport::PublisherPtr	Advertise (const std::string &topic, unsigned int _queueLimit=1000, bool _latch=false)
	Adverise a topic.
std::string	DecodeTopicName (const std::string &topic)
	Decode a topic name.
std::string	EncodeTopicName (const std::string &topic)
	Encode a topic name.
void	Fini ()
unsigned int	GetId () const
	Get the unique ID of the node.
std::string	GetMsgType (const std::string &_topic) const
	Get the message type for a topic.
std::string	GetTopicNamespace () const
	Get the topic namespace for this node.
bool	HandleData (const std::string &_topic, const std::string &_msg)
void	Init (const std::string &_space="")
	Init the node.
void	InsertLatchedMsg (const std::string &_topic, const std::string &_msg)
	Add a latched message to the node for publication.
void	ProcessIncoming ()
void	ProcessPublishers ()
	Process all publishers, which has each publisher send it's most recent message over the wire.
template<typename M , typename T >
SubscriberPtr	Subscribe (const std::string &topic, void(T::*fp)(const M const *&), T *obj, bool _latching=false)
	Subscribe to a topic, and return data on the callback.
template<typename M >
SubscriberPtr	Subscribe (const std::string &topic, void(*fp)(const M const *&), bool _latching=false)
	Subscribe to a topic, and return data on the callback.

Detailed Description

A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topics.

Constructor & Destructor Documentation

gazebo::transport::Node::Node

(

)

Constructor.

virtual gazebo::transport::Node::~Node ( )

virtual

Destructor.

Member Function Documentation

template<typename M >

transport::PublisherPtr gazebo::transport::Node::Advertise ( const std::string &  topic, unsigned int  _queueLimit = 1000, bool  _latch = false  )

inline

Adverise a topic.

References DecodeTopicName(), and SingletonT< T >::Instance().

std::string gazebo::transport::Node::DecodeTopicName

(

const std::string &

topic

)

Decode a topic name.

Referenced by Advertise(), and Subscribe().

std::string gazebo::transport::Node::EncodeTopicName

(

const std::string &

topic

)

Encode a topic name.

void gazebo::transport::Node::Fini

(

)

unsigned int gazebo::transport::Node::GetId

(

)

const

Get the unique ID of the node.

std::string gazebo::transport::Node::GetMsgType

(

const std::string &

_topic

)

const

Get the message type for a topic.

std::string gazebo::transport::Node::GetTopicNamespace

(

)

const

Get the topic namespace for this node.

Returns

The namespace

bool gazebo::transport::Node::HandleData	(	const std::string &	_topic,
		const std::string &	_msg
	)

void gazebo::transport::Node::Init

(

const std::string &

_space = ""

)

Init the node.

Parameters

space

Set the global namespace of all topics. If left blank, the topic will initialize to the first namespace on the Master

void gazebo::transport::Node::InsertLatchedMsg	(	const std::string &	_topic,
		const std::string &	_msg
	)

Add a latched message to the node for publication.

This is called when a subscription is connected to a publication.

Parameters

[in]	_topic	Name of the topic to publish data on.
[in]	_msg	The message to publish.

void gazebo::transport::Node::ProcessIncoming

(

)

void gazebo::transport::Node::ProcessPublishers

(

)

Process all publishers, which has each publisher send it's most recent message over the wire.

This is for internal use only

template<typename M , typename T >

SubscriberPtr gazebo::transport::Node::Subscribe ( const std::string &  topic, void(T::*)(const M const *&)  fp, T *  obj, bool  _latching = false  )

inline

Subscribe to a topic, and return data on the callback.

References DecodeTopicName(), and SingletonT< T >::Instance().

template<typename M >

SubscriberPtr gazebo::transport::Node::Subscribe ( const std::string &  topic, void(*)(const M const *&)  fp, bool  _latching = false  )

inline

Subscribe to a topic, and return data on the callback.

References DecodeTopicName(), and SingletonT< T >::Instance().

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The documentation for this class was generated from the following file:

• Node.hh